CN101387879B - Numerical control equipment moving precision test device and test method - Google Patents

Abstract

The invention discloses a motion precision testing device for numerical control devices, which comprises a signal conditioning plate connected with a numerical control device, a data collecting card and a programmable computer, wherein level conversion or input-output conversion of pulse signals or feedback signals which are real-time received and outputted by the numerical control device can be carried out by the signal conditioning plate, the data collecting card receives signals input by the signal conditioning plate at real time to convert the signals into computer readable signals and outputs control signals to the numerical control device, and the programmable computer equipped with a storage module stores processing procedures or operating parameters of the numerical control device and then builds up the theoretical trace, controls the data collecting card to output control signals, reads pulse signals or feedback signals of the numerical control device which are inputted by the data collecting card, builds up the real-time operating trace, and displays the theoretical trace and the real-time trace to output. The invention constructs a software and hardware platform according to motion characteristics of the numerical control device, and tests the motion characteristics of the numerical control device via simulated operation, which has high efficiency, simple operation with various testable contents, wide application scope and high testing precision.

Description

Numerical control equipment moving precision test device and method of testing

Technical field

The present invention relates to a kind of proving installation of numerical control device, especially relate to the proving installation of numerical control equipment moving precision.

Background technology

Along with the future development that Modern NC Machine Tool is refined towards high-efficiency softization and height, accelerate to advance Numeric Control Technology just becoming a key that solves the machine-tool industry sustainable development.Numeric Control Technology has obtained extensive and deep utilization as a core technology in the advanced manufacturing industry in the research and development of digital control system, in producing, and some high precision, high performance digital control system and driver also arise at the historic moment.Yet, research and development, production cycle shortening along with advanced digital control system, driver, and the user is to the reliability design requirement raising of Modern NC Machine Tool, some traditional digital control system means of testing can only satisfy the needs that simple functions detects because of the simple and crude of its design, and can not be from the performance index of abundant reflection measurand on the details, after for example needing the scene to make workpiece by numerically-controlled machine, detect kinematic accuracy of numerically-controlled machine etc. by measuring workpieces.There is the deficiency that efficient is low, operation is miscellaneous, advance is weak in these traditional detection modes, it obviously can not really adapt to existing digital control system and driver designs, the needs of production, therefore seeks a general orientation advanced, that comprehensive, efficient proving installation becomes digital control system development person.

Summary of the invention

The purpose of this invention is to provide a kind of easy and simple to handle, can the full test kinematic accuracy and the numerical control equipment moving precision test device of good test effect.

Another object of the present invention provides a kind of easy to operate numerical control equipment moving precision method of testing.

Technical solution of the present invention is: a kind of numerical control equipment moving precision test device, and it comprises:

The signal regulating panel that connects numerical control device carries out the conversion of level conversion or I/O mode to pulse signal or feedback signal that the numerical control device of real-time reception is exported;

Data collecting card, the signal of in real time receiving signal reason plate input also is converted to the computer-readable signal, exports simultaneously the control signal to numerical control device;

Programmable calculator has memory module, preserves default digital control system job sequence or operational factor and the track that theorizes; Control data collecting card output control signal, numerical control device output pulse signal or the feedback signal of the input of reading out data capture card are set up the real time execution track, show theory locus and real-time track and output.

Between described signal regulating panel and described data collecting card, be provided with protection and use link, can shield interference, form the good connection of protective.

For the direct memory access (DMA) data are connected, transfer speed of data is fast, takies resource few between described data collecting card and the described programmable calculator, and response in time.

This numerical control device comprises digital control system and driver.

The technical scheme of another goal of the invention of the present invention is: a kind of method of using numerical control equipment moving precision test device to test, and it may further comprise the steps:

A), job sequence or the operational factor of input numerical control device to be tested, track theorizes;

B), call hardware drive program, initialization data capture card, preparation for acquiring digital control system output signal;

C), numerical control device operation job sequence, programmable calculator control data collecting card output steering order gathers pulse signal or the feedback signal of numerical control device output, sets up the processing on real-time track, is saved in the memory module;

D), read the processing on real-time track data of storage, need to select the processing on real-time orbit segment analyzed, with the theory locus section contrast of same time, analyzing numerically controlled equipment is in the velocity characteristic of selected processing sections;

E), generate test report and output.

It also is provided with step f: reads processing on real-time track data and the theory locus data of storage, generates real-time speed curve and the theoretical velocity curve of whole process, and output display, the test report of formation is directly perceived, is convenient to contrast and judges.

In the steps d of method of testing of the present invention, the theory locus section of choosing processing on real-time orbit segment that need to analyze and same time contrasts, can analyzing numerically controlled system in the acceleration of selected processing on real-time section, at the uniform velocity or the velocity characteristic of moderating process.On this basis, can also further analyzing numerically controlled system the acceleration of selected processing on real-time section, at the uniform velocity or the interpolation precision of moderating process cathetus or circular arc, bearing accuracy or C cutter mend characteristic.

For screw thread test, in the steps d, choosing needs the processing on real-time orbit segment analyzed and the theory locus section of same time to contrast, analyzing numerically controlled system in the acceleration of selected processing on real-time orbit segment internal thread machining, at the uniform velocity or the velocity characteristic in the moderating process.On this basis, can also further analyzing numerically controlled system accelerate in the screw thread processing of selected processing on real-time orbit segment, at the uniform velocity or the interpolation precision in the moderating process.

In the steps d of the present invention, choose the theory locus section contrast of processing on real-time orbit segment and the same time of needs analysis, the following feature of analysis-driven device, frequency range characteristic, dynamic response or linearity characteristic.

The invention has the advantages that: the platform that makes up a software and hardware according to the kinetic characteristic of numerical control device, test the kinetic characteristic of numerical control device by the mode of dry run, efficient is high, easy and simple to handle, testable content is various, makes things convenient for the sectionalization test contrast, and data transmission is quick, applicability is wide, and measuring accuracy is high.

Description of drawings

Accompanying drawing 1 is proving installation structural representation of the present invention;

Accompanying drawing 2 is method of testing logic diagram of the present invention;

Accompanying drawing 3 is digital control system Straight Line and Arc accuracy test process flow diagram;

Accompanying drawing 4 is digital control system accuracy of thread test flow chart;

Accompanying drawing 5 is driver accuracy test process flow diagram;

Accompanying drawing 6 is the linear interpolation trajectory diagram;

Accompanying drawing 7 is the circular interpolation trajectory diagram;

Accompanying drawing 8 is the straight line machining locus figure of 1600 times of amplifications;

Accompanying drawing 9 is for amplifying 1900 times of arc machining trajectory diagrams;

The trajectory diagram of accompanying drawing 10 for mending with the C cutter;

Accompanying drawing 11 is the amplification trajectory diagram of AB straight-line segment among Figure 10;

Accompanying drawing 12 is the amplification trajectory diagram of CD arc section among Figure 10;

Accompanying drawing 13 is oscillogram in the experimental example of the present invention;

Accompanying drawing 14 is oscillogram in the experimental example of the present invention;

Accompanying drawing 15 is given speed and rotating speed time gradient figure in the experimental example of the present invention;

Embodiment

Embodiment:

Consult Fig. 1 and Fig. 2, a kind of numerical control equipment moving precision test device, this numerical control device comprises digital control system and driver, it also comprises:

The signal regulating panel that connects numerical control device can receive speed or position pulse signal that digital control system and each driver scrambler or code-disc are exported in real time, the line level of going forward side by side conversion or I/O mode conversion;

Data collecting card, the signal of in real time receiving signal reason plate input also is converted to the computer-readable signal, exports simultaneously the control signal to digital control system and driver;

Programmable calculator has memory module, preserves default digital control system job sequence and the track that theorizes; Can move job sequence, the output control signal, the processing on real-time track data of reading out data capture card input shows theory locus and real-time track and output.

Between signal regulating panel and data collecting card, be provided with protection and use link, can shield interference, form the good connection of protective.

For the direct memory access (DMA) data are connected, transfer speed of data is fast, takies resource few between data collecting card and the programmable calculator, and response in time.

Data collecting card in this proving installation adopts PCI-6602 and the PCI-6229 of America NI company.PCI-6602 is a digital integrated circuit board based on pci bus, it has 8 32 counting channel, the digital I/O mouth of TTL/CMOS compatibility, many mode of operations such as step-by-step counting, period measurement, encoder position test, pulse signal generation, square-wave signal generation are arranged, and mode and PC that simultaneously can DMA carry out the data transmission.

PCI-6229 is a integrated circuit board based on pci bus, it has 32 single-ended/16 difference analogue input channel (16 precision), 4 analog output channels (16 precision), 48 high speed digital I/O, and the DMA high-speed data channel is provided, its NC-Mcal self calibration technology transforms 5 times of precision raisings with A/D.

PCI-6602 is mainly used in gathering from digital control system, code-disc, scrambler and the pulse signal by conditioning plate, on the other hand again as the control signal source of digital control system and driver.PCI-6229 can acquisition pulse signal and simulating signal, and it is mainly as the control signal source under the drivers velocity mode.

Link adopts the SCB-68 of America NI company, and it has 68 terminals can form good being connected of protective with the DAQ device of 68 or 100 pins of NI company.

Signal regulating panel plays a part Signal Matching.Because effective input of data collecting card, output signal adopt the TTL/CMOS level, the part signal of digital control system is that 24V is effective, and code-disc and the scrambler employing difference way of output, signal regulating panel is exactly that all signals that need to collect integrated circuit board are carried out the conversion of level conversion or I/O mode with the signal of controlling tested object.

Digital control system and driver are tested object.Digital control system control driver, driver is drive motor under position mode or speed mode, it is moved by certain speed within a certain period of time, the speed of rotor and position by code-disc or encoder feedback to driver and data collecting card, thereby form the signal circuit of whole proving installation.

The testing software that moves on the programmable calculator in the present embodiment with LabVIEW 7.1 as development platform, by computing machine and the driving data capture card PCI-6602 of testing software and PCI-6229, with the valid data collection of digital control system and driver and be saved to computing machine, the recycling testing software processes, analyzes the data that collect, thereby draws test result.

A kind of method of using aforementioned numerical control equipment moving precision test device to test, it may further comprise the steps:

A), job sequence or the operational factor of input numerical control device to be tested, track theorizes;

B), call hardware drive program, initialization data capture card, preparation for acquiring digital control system output signal;

C), numerical control device operation job sequence, programmable calculator control data collecting card output steering order gathers pulse signal or the feedback signal of numerical control device output, sets up the processing on real-time track, is saved in the memory module;

D), read the processing on real-time track data of storage, need to select the processing on real-time orbit segment analyzed, with the theory locus section contrast of same time, analyzing numerically controlled equipment is in the velocity characteristic of selected processing sections;

E), generate test report and output.

Below referring to Fig. 3, when further describing straight line in the test digital control system, arc accuracy, the step that adopts:

1, setup test;

2, input digital control system job sequence, the generative theory track;

3, begin test, call hardware drive program, initialization data capture card, preparation for acquiring digital control system axle output signal;

4, digital control system operation job sequence, the output steering order gathers the pulse signal that digital control system is exported, and sets up the processing on real-time track, and is kept in the memory module;

5, program operation complete after, stop data collection;

6, read processing on real-time data in the memory module, and isolate each machining locus segment data; This moment is the rate curve of the whole process of output display synchronously;

7, choose the machining locus section that needs analysis;

8, analyzing numerically controlled system in the acceleration of selected processing sections, at the uniform velocity or the velocity characteristic in the moderating process, perhaps analyzing numerically controlled system accelerate at selected processing sections, at the uniform velocity or interpolation precision, bearing accuracy or the C cutter of moderating process cathetus, circular arc mend characteristic;

9, generate test report output;

10, select whether to test next time.

When digital control system was carried out straight line or circular interpolation, the machining locus that test macro collects as shown in Figure 6 and Figure 7.

Data collecting card with counting mode with the pulse signal acquisition of digital control system in programmable calculator, can calculate real coordinate position corresponding to each sampled point according to the single amount of the pulse of digital control system, can calculate the distance of each sampled point deviation theory track, thereby obtain interpolation precision.

The center of circle (the x of fitting circle ₀, z ₀) and radius r need meet the following conditions: $\underset{i=1}{\overset{n-1}{\mathrm{\Σ}}}[{(x_i-x_0)}^2+{(z_i-z_0)}^2-r^2{]}^2=\min .$

Following formula is set up when x0 and z0 meet following formula.X={x ₀, x ₁...; Z={z ₀, z ₁..., sampling number is N.

$\left|\begin{array}{cc}\mathrm{\&Sigma;}(X-\stackrel{\&OverBar;}{X})*X& \mathrm{\&Sigma;}(X-\stackrel{\&OverBar;}{X})*Z\\ \mathrm{\&Sigma;}(X-\stackrel{\&OverBar;}{X})*Z& \mathrm{\&Sigma;}(Z-\stackrel{\&OverBar;}{Z})*Z\end{array}\right|\&times;\left|\begin{array}{c}{x}_0\\ z_0\end{array}\right|=\left|\begin{array}{cc}\mathrm{\&Sigma;}(X-\stackrel{\&OverBar;}{X})*({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="S2007101523711E00011.png"\; state="\{\{state\}\}">X</figure-callout>}}^2+Z^2)& \\ \mathrm{\&Sigma;}(Z-\stackrel{\&OverBar;}{Z})*({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="S2007101523711E00011.png"\; state="\{\{state\}\}">X</figure-callout>}}^2+Z^2)& \end{array}\right|$

Above separating linear equation draw central coordinate of circle (x ₀, z ₀)

Arc radius

$r=\sqrt{[\mathrm{\&Sigma;}(X-x_0){]}^2+[\mathrm{\&Sigma;}(Z-z_0){]}^2/N}$

During the test position fix precision:

Get interpolation terminal point (z _Max, x _Max), the positional precision on the z direction is (z _Max-z _e), the positional precision on the x direction is (x _Max-x _e).

When speed, the acceleration characteristic of test digital control system, calculate take the interpolation cycle of digital control system as chronomere.

Sample sequence X={x ₁, x ₂, x ₃, Z={z ₁, z ₂, z ₃, the digital control system interpolation cycle is T, and the data sampling frequency is f, and then the sampling number in the interpolation cycle is: N=T.f/1000.

The speed of digital control system directions X in each interpolation cycle is: Vx=x (i+N)-xi/T, the speed of Z direction is: V _z=(z _I+N-z _i)/T, aggregate velocity is: V=sqrt (V _z ²+ V _x ²), thereby can obtain the rate curve that digital control system is processed.

According to velocity characteristic with sampled data be divided into acceleration, at the uniform velocity, slow down three sections, at the uniform velocity the average velocity of section, velocity perturbation rate and error distribute and can be calculated by mathematical function, and the acceleration and deceleration mode that adopts according to digital control system simultaneously goes out the Acceleration and deceleration time constant with least square fitting.

Referring to Fig. 8, theory locus refers to pick-up unit according to the job sequence of digital control system, according to straight-line equation: $\frac{X-X0}{\mathrm{Xe}-X0}=\frac{Z-Z0}{\mathrm{Ze}-Z0}$ The trajectory diagram that generates, wherein, (X0, Z0) is the straight line starting point coordinate, (Xe, Ze)

Be the straight line terminal point coordinate; Actual measurement track refers to that pick-up unit is with the digital control system X-axis of data collecting card collection and the pulse data of Z axis.From amplify 1600 times straight line processing Theory trajectory diagram and actual measurement track figure, can find out that the straight line machining locus precision of digital control system is less than 1um.

Referring to Fig. 9, theory locus refers to pick-up unit according to the job sequence of digital control system, according to equation of a circle: (X-Xc) ²+ (Z-Zc) ²=R ²The trajectory diagram that generates, wherein, (Xc, Zc) is central coordinate of circle, R is arc radius; Actual measurement track refers to that pick-up unit is with the X-axis of the GSKXXX of data collecting card collection and the pulse data of Z axis.From amplify 1900 times arc machining theory locus figure and actual measurement track figure, can find out that the arc machining path accuracy of digital control system is less than 1um.

Consult Fig. 4, further specify when the accuracy of screw machining of test digital control system the method that adopts:

1, setup test;

2, input digital control system screw thread job sequence, the generative theory track;

3, begin test, call hardware drive program, initialization data capture card, preparation for acquiring digital control system axle output signal;

4, digital control system operation screw thread job sequence, programmable calculator control data collecting card output steering order gathers the pulse signal that digital control system is exported, and sets up the processing on real-time track, and is kept in the memory module;

5, program operation complete after, stop data collection;

6, read processing on real-time data in the memory module, and isolate each machining locus segment data; This moment is the rate curve of the whole process of output display synchronously;

7, choose the machining locus section that needs analysis;

8, the acceleration of selection analysis screw thread processing, at the uniform velocity or the velocity characteristic in the moderating process, the perhaps acceleration of analysis thread processing, at the uniform velocity or the interpolation precision in the moderating process;

9, generate test report output;

10, select whether to test next time.

Gather pulse signal and the spindle encoder feedback signal of digital control system, thereby the sample count value can obtain real coordinate position and Spindle rotation angle degree.

The parametric equation of screw thread is: x=Rsin θ

y＝Rcosθ

z＝P*θ/2π＝Z ₀+Z _i

Wherein, R=X ₀+ X _i, θ=θ _i, X ₀And Z ₀All be the starting point coordinate of screw thread processing, can obtain thus the three-dimensional coordinate (x, y, z) of machining screw spiral curve.The projection of screw thread on the y-z plane shown by graphical tool, can check the details of machining screw.

According to the characteristics of screw thread processing, the position of reading a screw thread major axis when a rotaring signal of spindle encoder produces just can obtain a series of major axis position coordinates ZP _i, the pitch P of screw thread _i=ZP _i-ZP _I-1Thereby, can obtain the machining precision of screw thread.

Consult Figure 10,11 and 12, furtherly the machining locus method for testing and analyzing of oolemma C cutter benefit.

Explanation C cutter is mended the principle that (during G41) analyzes as an example of first quartile example.Be created on the illusion point of a knife track of setting the theoretical C cutter benefit under the cutter parameters according to theory locus, as shown in figure 10.

Tool rest coordinate system before adopting among Figure 10, wherein, T1～T8 represents 8 kinds of different imaginary points of a knife number, r represents nose radius.Machining locus is that (A → B), (B → C), (C → D), tool radius is r to circular arc to straight line 2 to straight line 1, and it is G41 that cutter is mended direction, and imaginary point of a knife adopts T1.Ask first the cutter deferent, namely determine first A0, B01, B02, C01, C02, D0.So the cutter deferent that straight line A → B is corresponding is A0 → B01, the cutter deferent that straight line B → C is corresponding is B02 → C01, and the cutter deferent that circular arc is corresponding is C02 → D0.

When theory locus is straight line, take Figure 10 cathetus 1 (A → B) as the example explanation.As shown in figure 11, (it is that (A0 → B01), AB is about to AB at Z axis translation AF to A0B01 to straight line, and translation FA0 on X-axis just can obtain the straight line A0B01 in the cutter center of circle that A → B) carries out point of a knife deferent after the C cutter is mended to straight line 1.

AF＝r|sin＜AA0F|

FA0＝r|cos＜AA0F|

＜AA0F＝＜BAF

＜BAF is the pitch angle of straight line AB.

According to the trajectory coordinates of 2 theories of AB, A (ZA, XA), B (ZB, XB).

Slope k=XB-XA/ZB-ZA of straight line AB then

Get＜BAF=arctank

Sin＜AA0F gets | sin (arctank) | and cos＜AA0F gets | cos (arctank) |

When the relative A of B at first quartile, cutter is mended direction when being G41,

AF＝r|sin(arctank)|

FA0＝r|cos(arctank)|

In like manner, can calculate the point of a knife deferent of mending direction at other quadrants and cutter.

When theory locus is circular arc, and circular arc in Figure 10 (C → D) as the example explanation.As shown in figure 12, (it is circular arc (C02 → D0), arc that C → D) carries out point of a knife deferent after the C cutter is mended to circular arc

To arc Be exactly with arc

The coordinate (ZC, XC) of starting point C at X-direction translation CG, at Z-direction translation GC02, obtain the starting point C02 in the cutter center of circle, the coordinate (ZD, XD) of terminal point D at Z-direction translation HD0, obtains the terminal point D0 in the cutter center of circle at X-direction translation DH.Then take O as the center of circle, OC02 is that radius origin is C02, and terminal point is that the circular arc of D0 is exactly the track in the cutter center of circle.

By knowing among Figure 12, CG=r|sin＜CC02G|, GC02=r|cos＜CC02G|,

Link to each other with the center of circle O pitch angle of straight line of starting point C is α, and the coordinate of center of circle O is (ZO, XO), so $k=\tan \mathrm{\&alpha;}=\frac{\mathrm{XC}-\mathrm{XO}}{\mathrm{ZC}-\mathrm{ZO}},$ |sin＜CC02G|＝|sin(tank)|，|cos＜CC02G|＝|cos(tank)|

When the relative O of C is during at first quartile, cutter is mended direction when being G41:

GC02＝r|sin(arctank)|，CG＝r|cos(arctank)|

In like manner, can calculate the point of a knife deferent of mending direction at other quadrants and cutter.

According to selected imaginary point of a knife number, the translation of point of a knife deferent is namely obtained the imaginary point of a knife track of cutter: straight line 1 (A ' → B1 '), straight line 2 (B2 ' → C1 '), circular arc (C2 ' → D0 ').

During cutter T0, do not add the C cutter and mend;

During cutter T1, the point of a knife deferent is translation r on X-axis, translation r on the Z axis;

During cutter T2, the point of a knife deferent is translation r on X-axis, translation-r on the Z axis;

During cutter T3, point of a knife deferent translation-r on X-axis, translation-r on the Z axis;

During cutter T4, the point of a knife deferent is translation-r on the x axle, translation r on the Z axis;

During cutter T5, the point of a knife deferent is translation 0 on X-axis, translation r on the Z axis;

During cutter T6, the point of a knife deferent is translation r on X-axis, and translation 0 on the Z axis;

During cutter T7, the point of a knife deferent is translation 0 on X-axis, translation r on the Z axis;

During cutter T8, the point of a knife deferent is translation-r on the x axle, and translation 0 on the Z axis.

Consult Fig. 5, when the kinematic accuracy of test driver, can take following steps:

1, setup test;

2, input test parameter, the generative theory track;

3, begin test, call hardware drive program, initialization data capture card, preparation for acquiring motor code-disc feedback signal;

4, programmable calculator control data collecting card output steering order gathers motor code-disc feedback signal, and is kept in the memory module;

5, steering order output is complete, stops data collection;

6, read the code-disc feedback data of preserving in the memory module; This moment is the rate curve of the whole test process of output display synchronously;

7, the following feature of analysis-driven device, frequency range characteristic, dynamic response or linearity characteristic;

8, generate test report output;

9, select whether to test next time.

Below describe the test philosophy in the different test processs in detail.

A, driver and digital control system follow test.

Follow the speed that test is mainly used in test driver and follow situation and location following situation, using a counter that digital control system is exported counts, another counter is counted the feedback of motor code-disc, reads simultaneously the value of two counters with the clock timing of a ms level.Obtain data above inciting somebody to action, be presented in velocity time diagram and the position time diagram, thereby delay time in speed and the position that can draw driving.

B, the test of driver dynamic response.

The coded disc counting of a counter to driving only used in this test, reads simultaneously the value of counter with the clock timing of a msS level.

In the process of test, add and subtract load, plus-minus inertia dish, start and stop car.

Upper velocity variations process record is got off to be presented at the speed dynamic response curve that has just obtained driving in the velocity time diagram.

Also claim again power spectrum with the analysis of speed auto-power spectrum in this test, it can be used for the frequency of concentration of energy in the reflected signal.Therefore can be former for the interference that analyzes servo drive system.

Power spectrum is exactly that the auto-correlation of signal is carried out Fourier transform.

The rotating speed V=v (i) that gathers (i=0,1,2 ... .N-1)

Autocorrelative discrete formula is

$R_{\mathrm{XX}}\left(k\right)=\underset{i=0}{\overset{N-\left|k\right|-1}{\mathrm{\&Sigma;}}}x\left(i\right)x(i+k),$

k＝0，±1，±2，......，±(N-1)

Power spectrum $S_x\left(f\right)={\&Integral;}_{-\&infin;}^{+\&infin;}{R}_{\mathrm{XX}}\left(\mathrm{\&tau;}\right)e^{-\mathrm{<figure-callout\; id="2"\; label="j"\; filenames="S2007101523711E00011.png"\; state="\{\{state\}\}">j</figure-callout>}2\mathrm{\&pi;ft}}\mathrm{d\&tau;}$

Discrete formula is $S_x\left(f\right)=\underset{n=0}{\overset{N-1}{\mathrm{\&Sigma;}}}{R}_{\mathrm{XX}}\left(n\right)e^{-\mathrm{<figure-callout\; id="2"\; label="j"\; filenames="S2007101523711E00011.png"\; state="\{\{state\}\}">j</figure-callout>}\frac{2\mathrm{\&pi;}}{N}\mathrm{nk}}$

Ask first the autocorrelation function of the V that gathers rotating speed then to ask auto-power spectrum.

C, the test of driver frequency range.

Data collecting card PCI-6229 and PCI-6602 have been used in test, and PCI-6229 exports the sinusoidal voltage of a frequency change, by PCI-6229 and the voltage of PCI-6602 synchronous acquisition output and the rate signal of motor code-disc.

With two sine curve fittings.Counting of sampling is N.

Fitting formula: Y=A*sin (W*X)+B*cos (W*X)+C;

Fitted according to least square method

X ^TXx＝X ^TY

$X=\left(\begin{array}{ccc}1& \sin (W*X_0)& \cos (W*X_0)\\ 1& \sin (W*X_1)& \cos (W*X_1)\\ 1& \sin (W*X_2)& \cos (W*X_2)\\ 1& ...& ...\end{array}\right)$ $x=\left|\begin{array}{c}C\\ A\\ B\end{array}\right|$ $Y=\left|\begin{array}{c}{Y}_0\\ Y_1\\ {\mathrm{<figure-callout\; id="2"\; label="Y"\; filenames="S2007101523711E00011.png"\; state="\{\{state\}\}">Y</figure-callout>}}_2\\ ...\end{array}\right|$

So

$X^{T}X=\left|\begin{array}{cccc}1& 1& 1& 1\\ \sin (W*X_0)& \sin (W*X_1)& \sin (W*X_0)& ...\\ \cos (W*X_0)& \cos (W*X_1)& \cos (W*X_2)& ...\end{array}\right|$

$\&times;\left(\begin{array}{ccc}1& \sin (W*X_0)& \cos (W*X_0)\\ 1& \sin (W*X_1)& \cos (W*X_1)\\ 1& \sin (W*X_2)& \cos (W*X_2)\\ 1& ...& ...\end{array}\right)$

$x=\left|\begin{array}{c}C\\ A\\ B\end{array}\right|$

$X^{T}Y=\left|\begin{array}{cccc}1& 1& 1& 1\\ \sin (W*X_0)& \sin (W*X_1)& \sin (W*X_0)& ...\\ \cos (W*X_0)& \cos (W*X_1)& \cos (W*X_2)& ...\end{array}\right|\&times;\left|\begin{array}{c}{Y}_0\\ Y_1\\ {\mathrm{<figure-callout\; id="2"\; label="Y"\; filenames="S2007101523711E00011.png"\; state="\{\{state\}\}">Y</figure-callout>}}_2\\ ...\end{array}\right|$

$X^T\mathrm{Xx}=\left|\begin{array}{cccc}1& 1& 1& 1\\ \sin (W*X_0)& \sin (W*X_1)& \sin (W*X_0)& ...\\ \cos (W*X_0)& \cos (W*X_1)& \cos (W*X_2)& ...\end{array}\right|$

$\&times;\left(\begin{array}{ccc}1& \sin (W*X_0)& \cos (W*X_0)\\ 1& \sin (W*X_1)& \cos (W*X_1)\\ 1& \sin (W*X_2)& \cos (W*X_2)\\ 1& ...& ...\end{array}\right)\&times;\left|\begin{array}{c}C\\ A\\ B\end{array}\right|=$

$\left|\begin{array}{cccc}1& 1& 1& 1\\ \sin (W*X_0)& \sin (W*X_1)& \sin (W*X_0)& ...\\ \cos (W*X_0)& \cos (W*X_1)& \cos (W*X_2)& ...\end{array}\right|\&times;\left|\begin{array}{c}{Y}_0\\ Y_1\\ {\mathrm{<figure-callout\; id="2"\; label="Y"\; filenames="S2007101523711E00011.png"\; state="\{\{state\}\}">Y</figure-callout>}}_2\\ ...\end{array}\right|$

Find the solution top linear equation and can get C, A, B.

Therefore, initial phase ψ=arctan (A/B), amplitude Au=sqr (A^2+B^2).

The phase place ψ 1 of output voltage, the phase place ψ 1 of motor speed, the rotating speed that output voltage amplitude is corresponding is V1, the amplitude of motor speed is V2.

Phase difference ψ=ψ 1-ψ 2

The dough softening is V2/V1*100%

The Linearity test of D, driver.

Export adjustable step shape voltage by PCI-6229, gather the code-disc feedback signal by PCI-6602 simultaneously, thereby obtain motor speed.Voltage and the corresponding rotating speed of output are presented in the voltage speed diagram, and the voltage speed curves are done least square fitting:

Press straight-line equation: Y=a*X+b

The collection rotating speed is Y={R0, R1 ... RN), corresponding voltage X={V0, V1 ... so VN} has according to least square fitting

X ^T Xx＝X ^TY

∴ $X^{T}X=\left(\begin{array}{cc}N& \mathrm{\&Sigma;X}\\ \mathrm{\&Sigma;X}& \mathrm{\&Sigma;}{X}^2\end{array}\right)$ $x=\left|\begin{array}{c}a\\ b\end{array}\right|$

$X^{T}Y=\left(\begin{array}{c}\mathrm{\&Sigma;Y}\\ \mathrm{\&Sigma;XY}\end{array}\right)$

$\left(\begin{array}{cc}N& \mathrm{\&Sigma;X}\\ \mathrm{\&Sigma;X}& \mathrm{\&Sigma;}{\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="S2007101523711E00011.png"\; state="\{\{state\}\}">X</figure-callout>}}^2\end{array}\right)\&times;\left|\begin{array}{c}a\\ b\end{array}\right|=\left(\begin{array}{c}\mathrm{\&Sigma;Y}\\ \mathrm{\&Sigma;XY}\end{array}\right)$

The equation that drives response is Y=a*X+b

Drive linearity analysis: the data of match and the data of actual acquisition are calculated the linearity that drives by independent Linearity computing method.Be the poor Δ v of maximum of rotating speed, maximum speed Vmax, the linearity=Δ v/Vmax.

E, the test of speed repeatable accuracy.

The Linearity test test data of repeatedly test is read,

The data A={VVA1 that tests for the first time, VVA2, VVA3 ...

The data B={VVB1 that tests for the second time, VVB2, VVB3 ...

The data C={VVC1 that tests for the third time, VVC2, VVC3 ...

Wherein (VVA1, VVB1, VVC1 ...), (VVA2, VVB2, VVC2 ...), (VVA3, VVB3, VVC3 ...)

Corresponding voltage is identical.

ΔV1＝MAX[(VVA1-VVB1)，(VVA1-VVC1)，……(VVB1-VVC1)，……]

ΔV2＝MAX[(VVA2-VVB2)，(VVA2-VVC2)，……(VVB2-VVC2)，……]

ΔV3＝MAX[(VVA3-VVB3)，(VVA3-VVC3)，……(VVB3-VVC3)，……]

Maximum error Δ VMAX=MAX (Δ V1, Δ V2, Δ V3 ...)

It is the repeatable accuracy of speed.

Further specify beneficial effect of the present invention below in conjunction with experimental example:

One, test objective

Driver is in the test of the accuracy comparison under the control mode of position and the test of the accuracy comparison under speed control method.

Two, testing equipment, instrument and environmental baseline

Environmental baseline: room temperature, 26 ℃ ~ 34 ℃; Humidity, 55% ~ 88%

Instrument and equipment: torque rotary speed test board, torque rotary speed test macro;

Inertia looping test platform (containing the inertia dish), 3.0Kw pressure regulator, Labview proving installation;

Digital control system: it is the machine tool numerical control system of GSKXXX that Guangzhou Numerical Control Equipment Co., Ltd makes the model specification of producing, numbering: CC13559XX

Motor: 130ST-M06025H numbering: DJ06

Driver: the model specification that Guangzhou Numerical Control Equipment Co., Ltd make to produce is each one of the driver of DAXXX, DAXX, MX

Three, pilot project

Under the position control mode: the fluctuation of speed, speed stabilizing error, static rigidity, bearing accuracy (comprising repetitive positioning accuracy and unidirectional bearing accuracy), command pulse width (minimum), maximum pulse rate, the dynamic dynamic and static performance when speed liters/prompt drop, dynamic release time and position command step.

Under the speed control method: the fluctuation of speed, speed stabilizing error, frequency span, dynamically speed liter/prompt drop and release time, speed command resolution, the linearity, repeatable accuracy, and the dynamic and static performance during the speed command step.

Four, test foundation

The machinery industry standard JB/T 10184-2000 of the People's Republic of China (PRC)

State Standard of the People's Republic of China GB/T 16439-1996

Five, content of the test

1, bearing accuracy test (under the position control mode)

Bearing accuracy is divided repetitive positioning accuracy and unidirectional bearing accuracy.Unidirectional bearing accuracy is only done unidirectional operation, and theoretic position quantity and actual displacement amount are compared, and its difference is unidirectional bearing accuracy.Repetitive positioning accuracy is done and is come and gone repeatedly operation, requires motor to do back and forth movement 100 times at 200r/min and 700r/min in the test, with different loads, has moved and has got back to 0 location point after 100 times.In two kinds of situation, a kind of situation is to add time-out (G04 X1) at motion initial point and terminal point in two-way process, and another kind does not add time-out.Value in the following table is the value with respect to 0 location point, i.e. repetitive positioning accuracy.

Repetitive positioning accuracy test procedure (not adding time-out):

Master routine: 00125; Subroutine: 00120;

M03； G50 X0 Z0；

M98 P1000120； G1 X11.389 F2000；

M05； G1 U-11.389；

M30； M99；

Repetitive positioning accuracy test procedure (adding time-out):

Master routine: 00125; Subroutine: 00120;

M03； G50 X0 Z0；

M98 P1000120； G1 X11.389 F2000；

M05； G04 X1；

M30； G1 U-11.389；

G04 X1；

M99；

Table 1 repetitive positioning accuracy data logger: (unit: mm)

The unidirectional bearing accuracy data logger of table 2: (unit: mm)

2, static rigidity is measured (under the position control mode)

Motor is in unloaded zero-speed duty, and the positive veer of motor shaft end or reverse directions are applied continuous torque T ₀, measure the offset Δ θ of corner, then static rigidity Ks is:

Ks＝T ₀/Δθ

In the test, DAXX and DAXX are measured respectively 40 times, the each maximum impulse amount of measuring of record, averaging to draw the side-play amount of corner.Measurement data is as follows:

DAXXX：

577 532 488 564 537 547 511 492 536 582

650 465 472 491 556 539 505 575 558 544

498 432 546 579 538 511 556 523 600 568

541 502 613 518 560 534 474 552 552 559

Mean value is: 523

DAXX：

157 138 154 170 107 161 165 169 172 117

146 102 124 177 126 134 126 172 127 163

138 158 127 143 132 165 145 175 101 135

105 153 139 127 123 144 142 170 133 140

Mean value is: 143

In the test, extension heavily is: G=mg=8.75*9.80665

The arm of force is long: L=63.595*10 ^-3

Then corner is calculated as, Δ θ=523*360/10000=18.828 °=18.828*360 ' (take DAXXX as example)

Then the static rigidity of DAXXX is:

Ks＝T ₀/Δθ＝8.75*9.80665*63.595*10 ^-3/18.828*360＝0.805*10 ^-3N.M/’

The static rigidity of DAXX is:

Ks＝T ₀/Δθ＝8.75*9.80665*63.595*10 ^-3/5.148*360＝2.944*10 ^-3N.M/’

3, speed stabilizing error test

(1) the speed stabilizing error of temperature variation: servo-drive system is in the environment of constant temperature under idle condition, under 20 ℃ of temperature motor speed is transferred to n _N, temperature is transferred to 0 ℃ again, after the thermal equilibrium, record rotation speed n at this moment ₁, temperature is transferred to 40 ℃ again, record rotation speed n at this moment ₂, then the speed stabilizing error of temperature variation is:

The speed stabilizing error of temperature variation=| n _i-n _N|/n _N* 100%, i=1,2

This test can be carried out in the constant temperature oven of laboratory.

(2) the speed stabilizing error of change in voltage: when specified input voltage, motor speed is transferred to n _NAnd apply load torque corresponding to rated power, input voltage is transferred to 110% of ratings, record rotation speed n at this moment ₁, again voltage is transferred to 85% of ratings, record rotation speed n at this moment ₂, then the speed stabilizing error of change in voltage is:

The speed stabilizing error of change in voltage=| n _i-n _N|/n _N* 100%, i=1,2

Under the speed control method:

DAXXX: applied voltage is 2 mutually inputs in the test, in rotation speed n _N=1998.47r/min applies rated power 1.5Kw, and the load torque of this moment is 7.2N.M.When increasing input voltage to 220 * 110%=242V, treat motor operation a period of time, the mean speed that records motor is 1998.62r/min, when input voltage slowly is reduced to 220 * 85%=187V, the mean speed that records motor is 1985.34r/min, after operation a period of time, motor speed begins fluctuation, and the 6# warning finally occurs.

During 242V voltage: the speed stabilizing error of change in voltage=| n _i-n _N|/n _N* 100%=0.0075%

During 187V voltage: the speed stabilizing error of change in voltage=| n _i-n _N|/n _N* 100%=0.66%

MX: applied voltage is 2 mutually inputs in the test, and when the 220V input voltage, the rotating speed that records is

n _N＝1999.21r/min，

When voltage was 242V, the rotating speed that records was n _N=1999.27r/min

When voltage was 187V, the rotating speed that records was n _N=1999.23r/min

During 242V voltage: the speed stabilizing error of change in voltage=| n _i-n _N|/n _N* 100%=0.003%

During 187V voltage: the speed stabilizing error of change in voltage=| n _i-n _N|/n _N* 100%=0.001%

Under the position control mode:

DAXXX: applied voltage is 2 mutually inputs in the test, and when input voltage was 220V and 242V, mean speed did not change.Lower voltage is during to 192V, and operation less than 1 minute overload just occurs and reports to the police.

MX: applied voltage is 2 mutually inputs in the test, and when the 220V input voltage, the rotating speed that records is n _N=2500.01r/min, when voltage was 242V, the rotating speed that records was n _N=2500.02r/min,

As seen the speed stabilizing error is very little, is approximately zero, when voltage is 202V, 12# occurs report to the police.

(3) the speed stabilizing error of time variation: under home condition, rated voltage, holding temperature is moved 8 hours continuously in the scopes of positive and negative 2 degree, measures a rotating speed in per 0.5 hour, and then the speed stabilizing error is:

The speed stabilizing error that time changes=| n _i-n _N|/n _N* 100%, i=1,2 ... 16

Get maximum deflection difference value as test findings.Measurement data is as follows: (unit: r/min)

DAXXX：2500.01 2500.01 2500.01 2500.02 2500.01 2500.00 2500.02

2500.02 2500.02 2500.02 2500.02 2500.01 2500.01

2500.00 2500.00 2500.01

Then the speed stabilizing error that changes of DAXXX time=| n _i-n _N|/n _N* 100%=0.0008%

DAXX：2500.01 2500.01 2500.01 2500.02 2500.01 2500.01 2500.01

2500.01 2500.01 2500.01 2500.00 2500.01 2500.01

2500.02 2500.02 2500.01

Then the speed stabilizing error that changes of DAXX time=| n _i-n _N|/n _N* 100%=0.0008%

4, dynamic performance testing

When system normally moves, motor is applied suddenly torque load(ing) or sheds suddenly torque load(ing), the motor speed temporal evolution is the time response that servo-drive system changes torque.

In the test, apply different loads under different rotating speeds, every group of data are carried out 5 times and are measured, and get its mean value, and institute's column data is mean value in the following table 3 and in the table 4.

DAXXX under the position control mode, DAXX, and the oscillogram of the MX under the speed control method when impact unloads load is as shown in figure 13, the oscillogram of the DA9XXX under the speed control method when impact unloads load as shown in figure 14,

Table 3: under the position control mode

Table 4: under the speed control method:

5, command pulse width (minimum)/maximum pulse rate test

The given position instruction, its pulse (square wave) width and variable period, the change cycle can change the rotating speed of motor, changes pulse width, namely changes dutycycle.First pulse width is made as 1us, it is respectively at 100r/min, and 1000r/min moves under three rotating speeds of 2500r/min.Fixing a certain rotating speed reduces pulse width gradually, can not respond (institute's umber of pulse of sending out and the umber of pulse that feeds back to do not wait) until drive, and pulse width at this moment is the instruction pulsewidth of minimum.

Under three groups of rotating speeds, to measure respectively 10 times, the pulsewidth that 10 drivings can both respond is:

Minimum pulse width during DAXXX:100r/min is 0.032us;

Minimum pulse width during 1000r/min is 0.032us;

Minimum pulse width during 2500r/min is 0.032us;

Therefore can think that the minimum instruction pulse width of DAXXX is: 0.032us.

Minimum pulse width during DAXX:100r/min is 0.32us;

Minimum pulse width during 1000r/min is 0.32us;

Minimum pulse width during 2500r/min is 0.32us;

Therefore can think that the minimum instruction pulse width of DAXX is: 0.32us.

In like manner, given one pulsewidth of fixing, the electronic gear proportion of setting driver by changing the recurrence interval (being motor speed), just can be obtained maximum pulse rate.

Electronic gear proportion is in the test: the pulsewidth of 1/10, DAXXX is tested respectively at 1.2us, 0.5us, 0.4us, 0.032us, and the pulsewidth of DAXX is tested respectively at 0.6us, 0.5us, 0.4us, 0.32us, repeatedly measures in many days, and the result who draws is:

The maximum speed of DAXXX is: 4593r/min (first day), 4549r/min (second day), 4549r/min (the 3rd day), get a conservative value and be: 4500r/min changes into maximum pulse rate and is: 750KHz

The maximum speed of DAXX is: 7680r/min (first day), 7680r/min (second day), 7680r/min (the 3rd day), get a conservative value and be: 7500r/min changes into maximum pulse rate and is: 1250KHz.

6, inertia adaptive testing

Under the prerequisite of system stability, apply the inertia dish of different multiples to system, given position instruction step signal is measured its response time and overshoot thereof.

Measurement data is as shown in the table: (rotor inertia is 1.26 * 10 ^-3Kg.m ²)

Table 5: under the speed mode (speed command step):

Table 6: under the mode of position (position command step): the CW direction

Under the mode of table 7 position (position command step): the CCW direction

7, frequency span test (speed control method)

Under speed control method, give driver input sine wave rotary speed instruction, its amplitude is 0.01 times of rated speed command value, and frequency is raise gradually by 1Hz, the phase place of corresponding output quantity lags behind and increases gradually simultaneously that amplitude reduces gradually, and phase place lags behind and increases to 90 ° or amplitude and be reduced to 1/

The time frequency think the frequency span of driver.

In the test, the given rate curve of motor speed curve and system of feedback is compared, the given speed curve is 90 ° if the actual speed curve will lag behind, the frequency span when then the frequency of this moment is 90 °; If the amplitude of actual speed curve is reduced to 1/ of given speed curve amplitude

, then the frequency of this moment is defined as-frequency span of 3dB, and what this test was adopted is-the 3dB frequency span, carries out 10 times and measures, and the measurement result of-3dB frequency span is:

The DAXXX frequency span is: 23.6Hz

The MX frequency span is: 22.5Hz

8, speed command resolution, the linearity, repeatable accuracy test (speed control method)

Consult shown in Figure 15, given speed instruction-10v is to the variation (vice versa) of 10v, and amplitude of variation is 0.1v/4s, record rotating speed (voltage)/time gradient curve, the data that sampling obtains are carried out least square fitting (poor quadratic sum is minimum), obtain as shown in the figure straight line.The linearity of trying to achieve here is independent linearity, it be the actual samples data with respect to the maximum deviation of straight line, make that this deviation is Δ n, the independent linearity of then trying to achieve is:

Independent linearity=Δ n/n _N* 100%=Δ n/2500*100%

Read any two groups of data, from 10v to-speed discrepancy when 10v obtains same rotary speed instruction respectively, that is: Δ n ₁(10v), Δ n ₂(9.9v), Δ n ₃(9.8v), Δ n ₄(9.7v) ... Δ n _i, i=1,2,3 ... 200, get max{ Δ n ₁, Δ n ₂Δ n ₃Δ n ₄Δ n _iIt is repeatable accuracy.

Given a certain speed command, voltage take 1mv as unit increases progressively, picking rate/time curve, the Velocity Step Technique situation of analysis speed/time curve, if step has occured in speed, then calculate the number of times that voltage increases progressively in this time Velocity Step Technique process, number of times (1mv of unit) is speed command resolution.

Measure 10 times, the result who draws is:

Speed command resolution:

MX：3mv

DAXXX：4mv

Repeatable accuracy:

MX: 0.415r/min when 0.390r/min loads (4N.M) when not loading

DAXXX: 0.855r/min when 1.262r/min loads (4N.M) when not loading

The linearity:

Table 8:MX and DAXXX (variable gradient 0.1v/4s)

Above-listed detailed description is that this embodiment limits claim of the present invention for the specifying of possible embodiments of the present invention, and the equivalence that all the present invention of disengaging do is implemented or change, all should be contained in the claim of this case.

Claims (9)

1. numerical control equipment moving precision test device, it is characterized in that: this numerical control device comprises digital control system and feed shaft driver, and:

The signal regulating panel that connects numerical control device carries out level conversion or I/O mode conversion to speed or the position pulse signal of real-time reception digital control system and the output of feed shaft driver;

Data collecting card, the signal of in real time receiving signal reason plate input also is converted to the computer-readable signal, exports simultaneously the control signal to digital control system and feed shaft driver;

Programmable calculator has memory module, preserves default digital control system job sequence and the operational factor of feed shaft driver and the track that theorizes; The job sequence of operation digital control system, control data collecting card output feed shaft driver control signal, pulse signal or the feedback signal of the digital control system of reading out data capture card input and the output of feed shaft driver, set up the real time execution track, show theory locus and real-time track and output, analyze following feature, frequency range characteristic, dynamic response or the linearity characteristic of feed shaft driver.

2. numerical control equipment moving precision test device according to claim 1 is characterized in that: be provided with the protection link between described signal regulating panel and described data collecting card.

3. numerical control equipment moving precision test device according to claim 1 and 2 is characterized in that: be connected for the direct memory access (DMA) data between described data collecting card and the described programmable calculator.

4. method that right to use requires 1 described numerical control equipment moving precision test device to test, it is characterized in that: it may further comprise the steps:

A), the job sequence of input digital control system to be tested and the operational factor of feed shaft driver, track theorizes;

B), call hardware drive program, initialization data capture card, output pulse signal or the feedback signal of preparation for acquiring digital control system and feed shaft driver;

C), digital control system operation job sequence, the instruction of programmable calculator control data collecting card output feed shaft driver control, gather pulse signal or the feedback signal of the output of digital control system and feed shaft driver, set up the processing on real-time track, be saved in the memory module;

D), read the processing on real-time track data of storage, need to select the processing on real-time orbit segment of analysis, theory locus section contrast with same time, analyzing numerically controlled system and feed shaft driver are analyzed following feature, frequency range characteristic, dynamic response or the linearity characteristic of feed shaft driver in the velocity characteristic of selected processing sections;

E), generate test report and output.

5. method of testing according to claim 4, it is characterized in that: it also is provided with step f: read processing on real-time track data and the theory locus data of storage, generate the rate curve of whole process, and output display.

6. method of testing according to claim 4, it is characterized in that: in the steps d, the theory locus section of choosing processing on real-time orbit segment that need to analyze and same time contrasts, analyzing numerically controlled system in the acceleration of selected processing on real-time section, at the uniform velocity or the velocity characteristic of moderating process.

7. method of testing according to claim 4, it is characterized in that: in the steps d, choose the theory locus section contrast of processing on real-time orbit segment that need to analyze and same time, analyzing numerically controlled system in the acceleration of selected processing on real-time section, at the uniform velocity or the interpolation precision of moderating process cathetus or circular arc, bearing accuracy or C cutter benefit characteristic.

8. method of testing according to claim 4, it is characterized in that: in the steps d, the theory locus section of choosing processing on real-time orbit segment that need to analyze and same time contrasts, analyzing numerically controlled system in the acceleration of selected processing on real-time orbit segment internal thread machining, at the uniform velocity or the velocity characteristic in the moderating process.

9. method of testing according to claim 4, it is characterized in that: in the steps d, choose the theory locus section contrast of processing on real-time orbit segment that need to analyze and same time, analyzing numerically controlled system in the screw thread processing acceleration of selected processing on real-time orbit segment, at the uniform velocity or the interpolation precision in the moderating process.

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